5XX Drive motor hack

[vic7767]

Presently in the planning stage of building a 4 wheel drive robot utilizing some Roomba parts. Already have the H-bridge hardware to run some motors (from a 4201 Roomba) and now I believe that the 5XX model drive wheels with a little hardware modification might just be the ticket. I do plan to change from foam tires to a more sturdy plastic or rubber tire once the motors are mounted to a frame (of an unknown design) and further testing of other goodies like obstacle avoidance using sonar devices and image recognition using a small video camera under servo control.